diff --git a/account_invoice_section_picking/__init__.py b/account_invoice_section_picking/__init__.py
new file mode 100644
index 00000000000..0650744f6bc
--- /dev/null
+++ b/account_invoice_section_picking/__init__.py
@@ -0,0 +1 @@
+from . import models
diff --git a/account_invoice_section_picking/__manifest__.py b/account_invoice_section_picking/__manifest__.py
new file mode 100644
index 00000000000..3fdfd30115b
--- /dev/null
+++ b/account_invoice_section_picking/__manifest__.py
@@ -0,0 +1,13 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+{
+    "name": "Acccount Invoice Section Picking",
+    "version": "14.0.1.0.0",
+    "summary": "Extension of Acccount Invoice Section Sale Order to allow "
+    "grouping of invoice lines according to delivery picking.",
+    "author": "Camptocamp, Odoo Community Association (OCA)",
+    "website": "https://github.com/OCA/account-invoicing",
+    "license": "AGPL-3",
+    "category": "Accounting & Finance",
+    "depends": ["account_invoice_section_sale_order", "stock"],
+}
diff --git a/account_invoice_section_picking/models/__init__.py b/account_invoice_section_picking/models/__init__.py
new file mode 100644
index 00000000000..5eff3afaeb5
--- /dev/null
+++ b/account_invoice_section_picking/models/__init__.py
@@ -0,0 +1,3 @@
+from . import account_move_line
+from . import res_company
+from . import stock_picking
diff --git a/account_invoice_section_picking/models/account_move_line.py b/account_invoice_section_picking/models/account_move_line.py
new file mode 100644
index 00000000000..80f174b2fff
--- /dev/null
+++ b/account_invoice_section_picking/models/account_move_line.py
@@ -0,0 +1,48 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+from odoo import models
+
+
+class AccountMoveLine(models.Model):
+
+    _inherit = "account.move.line"
+
+    def _get_section_group(self):
+        """Group invoice lines according to uninvoiced delivery pickings"""
+        group = super()._get_section_group()
+        # If product is invoiced by delivered quantities:
+        #  - filter on done pickings to avoid displaying backorders not yet
+        #    processed
+        #  - Remove pickings linked with same sale order lines if an invoice
+        #    was created after its date_done
+        invoice_section_grouping = self.company_id.invoice_section_grouping
+        if (
+            invoice_section_grouping == "delivery_picking"
+            and self.product_id.invoice_policy == "delivery"
+        ):
+            last_invoice_line = self.search(
+                [
+                    ("sale_line_ids", "in", self.sale_line_ids.ids),
+                    ("parent_state", "!=", "cancel"),
+                    ("id", "!=", self.id),
+                ],
+                order="create_date",
+                limit=1,
+            )
+            pickings_already_invoiced = self.env["stock.picking"].search(
+                [
+                    ("date_done", "<=", last_invoice_line.create_date),
+                    ("id", "in", self.sale_line_ids.mapped("order_id.picking_ids").ids),
+                ]
+            )
+            group = group.filtered(
+                lambda p: p.state == "done"
+                and p.id not in pickings_already_invoiced.ids
+            )
+        return group
+
+    def _get_section_grouping(self):
+        invoice_section_grouping = self.company_id.invoice_section_grouping
+        if invoice_section_grouping == "delivery_picking":
+            return "sale_line_ids.move_ids.picking_id"
+        return super()._get_section_grouping()
diff --git a/account_invoice_section_picking/models/res_company.py b/account_invoice_section_picking/models/res_company.py
new file mode 100644
index 00000000000..5e053971029
--- /dev/null
+++ b/account_invoice_section_picking/models/res_company.py
@@ -0,0 +1,12 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+from odoo import fields, models
+
+
+class ResCompany(models.Model):
+    _inherit = "res.company"
+
+    invoice_section_grouping = fields.Selection(
+        selection_add=[("delivery_picking", "Group by delivery picking")],
+        ondelete={"delivery_picking": "set default"},
+    )
diff --git a/account_invoice_section_picking/models/stock_picking.py b/account_invoice_section_picking/models/stock_picking.py
new file mode 100644
index 00000000000..e0d8d5e5ecc
--- /dev/null
+++ b/account_invoice_section_picking/models/stock_picking.py
@@ -0,0 +1,25 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+from odoo import models
+from odoo.tools.safe_eval import safe_eval, time
+
+
+class StockPicking(models.Model):
+
+    _inherit = "stock.picking"
+
+    def _get_invoice_section_name(self):
+        """Returns the text for the section name."""
+        section_names = []
+        for pick in self:
+            naming_scheme = (
+                pick.partner_id.invoice_section_name_scheme
+                or pick.company_id.invoice_section_name_scheme
+            )
+            if naming_scheme:
+                section_names.append(
+                    safe_eval(naming_scheme, {"object": pick, "time": time})
+                )
+            else:
+                section_names.append(pick.name)
+        return ", ".join(section_names)
diff --git a/account_invoice_section_picking/readme/CONTRIBUTORS.rst b/account_invoice_section_picking/readme/CONTRIBUTORS.rst
new file mode 100644
index 00000000000..e31e2f0c4fc
--- /dev/null
+++ b/account_invoice_section_picking/readme/CONTRIBUTORS.rst
@@ -0,0 +1 @@
+* Akim Juillerat <akim.juillerat@camptocamp.com>
diff --git a/account_invoice_section_picking/readme/DESCRIPTION.rst b/account_invoice_section_picking/readme/DESCRIPTION.rst
new file mode 100644
index 00000000000..b01c3ae2173
--- /dev/null
+++ b/account_invoice_section_picking/readme/DESCRIPTION.rst
@@ -0,0 +1,3 @@
+This module extends `account_invoice_section_sale_order` to allow using pickings
+linked to the sale order line for the grouping invoice lines when invoicing sale
+orders.
diff --git a/account_invoice_section_picking/readme/ROADMAP.rst b/account_invoice_section_picking/readme/ROADMAP.rst
new file mode 100644
index 00000000000..0151c42fdd6
--- /dev/null
+++ b/account_invoice_section_picking/readme/ROADMAP.rst
@@ -0,0 +1,10 @@
+* The selection of pickings for the section name relies on the last invoice
+  that was created and is linked to the sale order line. In such case, there's
+  no guarantee the selection is correct if the quantity is reduced on prior
+  invoice lines.
+* Moreover, as Odoo considers the draft invoices for the computation of
+  `qty_invoiced` on sales order line, we couldn't base the selection of the last
+  invoice on another field than the `create_date` although it would have been
+  cleaner to rely on a `date` field, but this one is only set on the posting.
+  Finally, defining another field for the generation of invoices wouldn't have
+  helped solve these issues.
diff --git a/account_invoice_section_picking/tests/__init__.py b/account_invoice_section_picking/tests/__init__.py
new file mode 100644
index 00000000000..955e4115470
--- /dev/null
+++ b/account_invoice_section_picking/tests/__init__.py
@@ -0,0 +1,2 @@
+from . import test_account_invoice_section_picking
+from . import test_account_invoice_section_picking_backorder
diff --git a/account_invoice_section_picking/tests/common.py b/account_invoice_section_picking/tests/common.py
new file mode 100644
index 00000000000..f136c674166
--- /dev/null
+++ b/account_invoice_section_picking/tests/common.py
@@ -0,0 +1,30 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+from odoo.tests.common import Form, SavepointCase
+
+
+class TestAccountInvoiceSectionPickingCommon(SavepointCase):
+    @classmethod
+    def setUpClass(cls):
+        super().setUpClass()
+        cls.env = cls.env(context=dict(cls.env.context, tracking_disable=True))
+        cls.env.company.invoice_section_grouping = "delivery_picking"
+        cls.partner_1 = cls.env.ref("base.res_partner_1")
+        cls.product_1 = cls.env.ref("product.product_delivery_01")
+        stock = cls.env.ref("stock.stock_location_stock")
+        cls.env["stock.quant"]._update_available_quantity(cls.product_1, stock, 1000)
+        cls.product_1.invoice_policy = "order"
+        cls.order_1 = cls._create_order()
+        cls.order_2 = cls._create_order(order_line_name=cls.product_1.name)
+
+    @classmethod
+    def _create_order(cls, order_line_name=None):
+        order_form = Form(cls.env["sale.order"])
+        order_form.partner_id = cls.partner_1
+        with order_form:
+            with order_form.order_line.new() as line_form:
+                line_form.product_id = cls.product_1
+                line_form.product_uom_qty = 5
+                if order_line_name is not None:
+                    line_form.name = order_line_name
+        return order_form.save()
diff --git a/account_invoice_section_picking/tests/test_account_invoice_section_picking.py b/account_invoice_section_picking/tests/test_account_invoice_section_picking.py
new file mode 100644
index 00000000000..922aba29307
--- /dev/null
+++ b/account_invoice_section_picking/tests/test_account_invoice_section_picking.py
@@ -0,0 +1,72 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+
+from .common import TestAccountInvoiceSectionPickingCommon
+
+
+class TestAccountInvoiceSectionPicking(TestAccountInvoiceSectionPickingCommon):
+    def test_group_by_delivery_picking(self):
+        self.order_1.action_confirm()
+        self.order_2.action_confirm()
+
+        invoice = (self.order_1 + self.order_2)._create_invoices()
+        self.assertEqual(len(invoice), 1)
+        result = {
+            10: (self.order_1.picking_ids.name, "line_section"),
+            20: (self.order_1.order_line.name, False),
+            30: (self.order_2.picking_ids.name, "line_section"),
+            40: (self.order_2.order_line.name, False),
+        }
+        for line in invoice.invoice_line_ids.sorted("sequence"):
+            self.assertEqual(line.name, result[line.sequence][0])
+            self.assertEqual(line.display_type, result[line.sequence][1])
+
+    def test_group_by_delivery_picking_multi_steps(self):
+        warehouse = self.env.ref("stock.warehouse0")
+        warehouse.write({"delivery_steps": "pick_pack_ship"})
+
+        self.order_1.action_confirm()
+        self.order_2.action_confirm()
+
+        invoice = (self.order_1 + self.order_2)._create_invoices()
+        self.assertEqual(len(invoice), 1)
+        result = {
+            10: (self.order_1.order_line.move_ids.picking_id.name, "line_section"),
+            20: (self.order_1.order_line.name, False),
+            30: (self.order_2.order_line.move_ids.picking_id.name, "line_section"),
+            40: (self.order_2.order_line.name, False),
+        }
+        for line in invoice.invoice_line_ids.sorted("sequence"):
+            self.assertEqual(line.name, result[line.sequence][0])
+            self.assertEqual(line.display_type, result[line.sequence][1])
+
+    def test_group_by_delivery_picking_backorder(self):
+        self.order_1.action_confirm()
+        self.order_2.action_confirm()
+
+        delivery_1_move = self.order_1.order_line.move_ids
+        delivery_1_move.move_line_ids.qty_done = 2.0
+        delivery_1 = delivery_1_move.picking_id
+        backorder_wiz_action = delivery_1.button_validate()
+        backorder_wiz = (
+            self.env["stock.backorder.confirmation"]
+            .with_context(**backorder_wiz_action.get("context"))
+            .create({})
+        )
+        backorder_wiz.process()
+        delivery_1_backorder_move = self.order_1.order_line.move_ids - delivery_1_move
+        delivery_1_backorder = delivery_1_backorder_move.picking_id
+        delivery_2 = self.order_2.order_line.move_ids.picking_id
+        invoice = (self.order_1 + self.order_2)._create_invoices()
+        result = {
+            10: (
+                ", ".join([delivery_1.name, delivery_1_backorder.name]),
+                "line_section",
+            ),
+            20: (self.order_1.order_line.name, False),
+            30: (delivery_2.name, "line_section"),
+            40: (self.order_2.order_line.name, False),
+        }
+        for line in invoice.invoice_line_ids.sorted("sequence"):
+            self.assertEqual(line.name, result[line.sequence][0])
+            self.assertEqual(line.display_type, result[line.sequence][1])
diff --git a/account_invoice_section_picking/tests/test_account_invoice_section_picking_backorder.py b/account_invoice_section_picking/tests/test_account_invoice_section_picking_backorder.py
new file mode 100644
index 00000000000..ea8e7df0970
--- /dev/null
+++ b/account_invoice_section_picking/tests/test_account_invoice_section_picking_backorder.py
@@ -0,0 +1,168 @@
+# Copyright 2021 Camptocamp SA
+# License AGPL-3.0 or later (https://www.gnu.org/licenses/agpl)
+import datetime
+import logging
+import re
+from types import MethodType
+
+from psycopg2 import sql
+from psycopg2.extensions import AsIs
+
+from .common import TestAccountInvoiceSectionPickingCommon
+
+_logger = logging.getLogger(__name__)
+
+try:
+    from freezegun import freeze_time
+except (ImportError, IOError) as err:
+    _logger.debug(err)
+
+
+class TestAccountInvoiceSectionPickingBackorder(TestAccountInvoiceSectionPickingCommon):
+    def setUp(self):
+        super().setUp()
+        self._monkey_patch_cursor_freeze_time()
+        self.addCleanup(self._reset_monkey_patch_cursor_freezetime)
+
+    def _reset_monkey_patch_cursor_freezetime(self):
+        self.env.cr.execute = self.env.cr.standard_exec
+
+    def _monkey_patch_cursor_freeze_time(self):
+        """Monkey patch cursor to replace SQL TIME/DATE keywords"""
+        # TODO: Extract this part into a fork of freezegun for odoo?
+        # Copied from https://github.com/CloverHealth/pytest-pgsql/blob/1.1.2/pytest_pgsql/time.py#L12-L24  # noqa
+        _TIMESTAMP_REPLACEMENT_FORMATS = (
+            # Functions
+            (
+                r"\b((NOW|CLOCK_TIMESTAMP|STATEMENT_TIMESTAMP|TRANSACTION_TIMESTAMP)\s*\(\s*\))",  # noqa
+                r"'{:%Y-%m-%d %H:%M:%S.%f %z}'::TIMESTAMPTZ",
+            ),
+            (
+                r"\b(TIMEOFDAY\s*\(\s*\))",
+                r"'{:%Y-%m-%d %H:%M:%S.%f %z}'::TEXT",
+            ),
+            # Keywords
+            (r"\b(CURRENT_DATE)\b", r"'{:%Y-%m-%d}'::DATE"),
+            (r"\b(CURRENT_TIME)\b", r"'{:%H:%M:%S.%f %z}'::TIMETZ"),
+            (
+                r"\b(CURRENT_TIMESTAMP)\b",
+                r"'{:%Y-%m-%d %H:%M:%S.%f %z}'::TIMESTAMPTZ",
+            ),
+            (r"\b(LOCALTIME)\b", r"'{:%H:%M:%S.%f}'::TIME"),
+            (r"\b(LOCALTIMESTAMP)\b", r"'{:%Y-%m-%d %H:%M:%S.%f}'::TIMESTAMP"),
+        )
+
+        self.env.cr.standard_exec = self.env.cr.execute
+
+        def frozen_time_execute(self, query, params=None, log_exceptions=None):
+            def replace_keywords(regex, replacement, timestamp, query):
+                return re.sub(
+                    regex,
+                    replacement.format(timestamp),
+                    query,
+                    flags=re.IGNORECASE,
+                )
+
+            timestamp = datetime.datetime.now()
+            for regex, replacement in _TIMESTAMP_REPLACEMENT_FORMATS:
+                if isinstance(query, sql.Composed):
+                    new_composed = []
+                    for comp in query:
+                        if isinstance(comp, sql.SQL):
+                            comp = replace_keywords(
+                                regex, replacement, timestamp, comp.string
+                            )
+                            new_composed.append(sql.SQL(comp))
+                        else:
+                            new_composed.append(comp)
+                    query = sql.Composed(new_composed)
+                else:
+                    query = replace_keywords(regex, replacement, timestamp, query)
+                if params is not None:
+                    for i, param in enumerate(params):
+                        if isinstance(param, AsIs):
+                            new_param = AsIs(
+                                replace_keywords(
+                                    regex,
+                                    replacement,
+                                    timestamp,
+                                    param.getquoted().decode(),
+                                )
+                            )
+                            params[i] = new_param
+            return self.standard_exec(
+                query, params=params, log_exceptions=log_exceptions
+            )
+
+        self.env.cr.execute = MethodType(frozen_time_execute, self.env.cr)
+
+    def test_group_by_delivery_picking_backorder_delivered_qties(self):
+        self.product_1.invoice_policy = "delivery"
+        with freeze_time("2021-12-10 10:00:00"):
+            self.order_1.action_confirm()
+        with freeze_time("2021-12-10 10:00:01"):
+            self.order_2.action_confirm()
+        with freeze_time("2021-12-10 10:00:02"):
+            delivery_1_move = self.order_1.order_line.move_ids
+            delivery_1_move.move_line_ids.qty_done = 2.0
+            delivery_1 = delivery_1_move.picking_id
+
+            backorder_wiz_action = delivery_1.button_validate()
+            backorder_wiz = (
+                self.env["stock.backorder.confirmation"]
+                .with_context(**backorder_wiz_action.get("context"))
+                .create({})
+            )
+            backorder_wiz.process()
+        with freeze_time("2021-12-10 10:00:03"):
+            delivery_1_backorder_move = (
+                self.order_1.order_line.move_ids - delivery_1_move
+            )
+            delivery_1_backorder = delivery_1_backorder_move.picking_id
+            delivery_2_move = self.order_2.order_line.move_ids
+            delivery_2_move.move_line_ids.qty_done = 3.0
+            delivery_2 = delivery_2_move.picking_id
+            backorder_wiz_action = delivery_2.button_validate()
+            backorder_wiz = (
+                self.env["stock.backorder.confirmation"]
+                .with_context(**backorder_wiz_action.get("context"))
+                .create({})
+            )
+            backorder_wiz.process()
+        with freeze_time("2021-12-10 10:00:04"):
+            delivery_2_backorder_move = (
+                self.order_2.order_line.move_ids - delivery_2_move
+            )
+            delivery_2_backorder = delivery_2_backorder_move.picking_id
+            self.env["account.move"].flush([])
+            invoice = (self.order_1 + self.order_2)._create_invoices()
+            result = {
+                10: (delivery_1.name, "line_section"),
+                20: (self.order_1.order_line.name, False),
+                30: (delivery_2.name, "line_section"),
+                40: (self.order_2.order_line.name, False),
+            }
+            for line in invoice.invoice_line_ids.sorted("sequence"):
+                self.assertEqual(line.name, result[line.sequence][0])
+                self.assertEqual(line.display_type, result[line.sequence][1])
+        with freeze_time("2021-12-10 10:00:05"):
+            delivery_1_backorder.action_assign()
+        with freeze_time("2021-12-10 10:00:06"):
+            delivery_2_backorder.action_assign()
+        with freeze_time("2021-12-10 10:00:07"):
+            delivery_1_backorder_move.move_line_ids.qty_done = 3.0
+            delivery_1_backorder.button_validate()
+        with freeze_time("2021-12-10 10:00:08"):
+            delivery_2_backorder_move.move_line_ids.qty_done = 2.0
+            delivery_2_backorder.button_validate()
+        with freeze_time("2021-12-10 10:00:09"):
+            invoice_backorder = (self.order_1 + self.order_2)._create_invoices()
+            result_backorder = {
+                10: (delivery_1_backorder.name, "line_section"),
+                20: (self.order_1.order_line.name, False),
+                30: (delivery_2_backorder.name, "line_section"),
+                40: (self.order_2.order_line.name, False),
+            }
+            for line in invoice_backorder.invoice_line_ids.sorted("sequence"):
+                self.assertEqual(line.name, result_backorder[line.sequence][0])
+                self.assertEqual(line.display_type, result_backorder[line.sequence][1])
diff --git a/setup/account_invoice_section_picking/odoo/addons/account_invoice_section_picking b/setup/account_invoice_section_picking/odoo/addons/account_invoice_section_picking
new file mode 120000
index 00000000000..6a203601614
--- /dev/null
+++ b/setup/account_invoice_section_picking/odoo/addons/account_invoice_section_picking
@@ -0,0 +1 @@
+../../../../account_invoice_section_picking
\ No newline at end of file
diff --git a/setup/account_invoice_section_picking/setup.py b/setup/account_invoice_section_picking/setup.py
new file mode 100644
index 00000000000..28c57bb6403
--- /dev/null
+++ b/setup/account_invoice_section_picking/setup.py
@@ -0,0 +1,6 @@
+import setuptools
+
+setuptools.setup(
+    setup_requires=['setuptools-odoo'],
+    odoo_addon=True,
+)
diff --git a/test_requirements.txt b/test_requirements.txt
new file mode 100644
index 00000000000..09e6cb1152a
--- /dev/null
+++ b/test_requirements.txt
@@ -0,0 +1 @@
+git+https://github.com/OCA/account-invoicing@refs/pull/1050/head#subdirectory=setup/account_invoice_section_sale_order